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A force-controlled pneumatic actuator

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2 Author(s)
Ben-Dov, D. ; Raphael Armament Dev. Authority of Israel, Haifa, Israel ; Salcudean, S.E.

This paper presents a new pneumatic actuator for applications requiring moderate, but accurate, force control, such as teleoperation masters and robot wrists. The actuator uses voice-coil flapper valves and low-friction cylinders. Its force is controlled by servoing differential pressure. Aspects of valve design, system modeling, controller design, and experimental results are presented

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Robotics and Automation, IEEE Transactions on  (Volume:11 ,  Issue: 6 )